Link.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
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#ifndef _MIRA_LINK_H_
#define _MIRA_LINK_H_

#include <model/Inertial.h>
#include <model/Visual.h>
#include <model/Collision.h>

namespace mira { namespace model {


class Link
{
public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Name", name, "Name of the link");
        r.member("Inertial", inertial, "Inertia properties", InertialPtr());
        r.member("Visuals", visuals, "Visual representation", std::vector<VisualPtr>());
        r.member("Collisions", collisions, "Collision representation", std::vector<CollisionPtr>());
    }

    std::string name;                       
    InertialPtr inertial;                   
    std::vector<VisualPtr> visuals;         
    std::vector<CollisionPtr> collisions;   
};

typedef boost::shared_ptr<Link> LinkPtr;


}}

#endif